#ifndef GYRO_H
#define GYRO_H




extern unsigned short IMU_ADC_ROLL_DOT_ZERO;
extern unsigned short IMU_ADC_PITCH_DOT_ZERO;
extern unsigned short IMU_ADC_YAW_DOT_ZERO;

extern float	pqr[3];

//extern unsigned short   gyro[3];          // raw data from gyro 
extern unsigned short   gyro_zero[3];     // zero rate code
extern float            gyro_scale[3];    // gyro convertion scale to rad/s

// Calculate angular rates from raw gyro data
//extern void pqr_update(void);

// Initialize gyro zero and scale
extern void gyro_init(void);

// Calculate angular rate from raw gyro data
extern void gyro_update_x(unsigned short gyro_raw_x);

extern void gyro_update_y(unsigned short gyro_raw_y);

extern void gyro_update_z(unsigned short gyro_raw_z);

#endif
